CN207534847U - Integral joint interior cabling strainer - Google Patents
Integral joint interior cabling strainer Download PDFInfo
- Publication number
- CN207534847U CN207534847U CN201721686710.XU CN201721686710U CN207534847U CN 207534847 U CN207534847 U CN 207534847U CN 201721686710 U CN201721686710 U CN 201721686710U CN 207534847 U CN207534847 U CN 207534847U
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- CN
- China
- Prior art keywords
- gear
- shell
- screw
- leading screw
- conducting wire
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
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Abstract
The utility model belongs to the technical field of cooperation robot integral joint, specifically a kind of integral joint interior cabling strainer.Including shell and the first gear being placed in shell, second gear, leading screw, screw and pull rod, wherein the both ends of shell are equipped with the threading hole passed through for conducting wire, first gear is equipped with by clutch shaft bearing at the threading hole of one side, the both ends of leading screw are connect by second bearing with the both ends of shell respectively, second gear is sheathed on leading screw and is engaged with first gear, screw cooperatively forms screw thread pair with leading screw, and one end of pull rod is connect with screw, and the other end is fixedly connected with conducting wire.The utility model is mounted on the end of integral joint, has the characteristics that the problem of installation is simple, does not need to active control and realizes that conducting wire is passively tensioned, can prevent from being pulled off due to conducting wire is wound in integral joint rotary course.
Description
Technical field
The utility model belongs to the technical field of cooperation robot integral joint, specifically a kind of integral joint
Interior cabling strainer.
Background technology
At present, traditional robot is mostly using outer cabling mode, however, the exposed conducting wire outside robot needs
Enough length is stopped to coordinate the movement in each joint of robot, one limits the motion range in joint；Two is easily and outer
The environment on boundary collides, and leads to wire fracture, so as to which body production accident occur.
With nearly machine man-based development of cooperation in 2 years, the interior cabling mode of integral joint, which achieves, to be widely applied.It should
Mode is equipped with the axis hole penetrated through along joint shaft by intra articular part, and penetration pipe is equipped in axis hole, can not only be prevented
Across the conducting wire inside joint of robot, coiling breaks when robot is run, additionally it is possible to prevent conducting wire from wearing, ensure that machine
The normal high-speed cruising of people.
However, interior cabling mode still has the problem of conducting wire wound upon themselves, because conducting wire winding causes the length of itself to subtract
Small, when joint rotation angle is excessive, conductor length greatly shortens, and seriously affects the service life of two joint connector.
Utility model content
In order to overcome the shortcomings of that existing interior cabling mode is not suitable for joint big angle rotary, the purpose of this utility model exists
In a kind of strainer for integral joint interior cabling of offer.The strainer can adapt to the wide-angle in joint in real time
Rotation, ensures that the length of conducting wire changes, avoids influencing the life problems of articulated joint due to curtailment.
The purpose of this utility model is achieved through the following technical solutions：
A kind of integral joint interior cabling strainer, including shell and the first gear being placed in the shell,
The both ends of two gears, leading screw, screw and pull rod, wherein shell, which are equipped with, is used for the threading hole that conducting wire passes through, at the threading hole of one side
First gear is equipped with by clutch shaft bearing, the both ends of the leading screw are connect by second bearing with the both ends of shell respectively, institute
It states second gear to be sheathed on the leading screw and engage with the first gear, the screw cooperatively forms spiral shell with the leading screw
Line pair, one end of the pull rod are connect with the screw, and the other end is fixedly connected with conducting wire.
The guide rail parallel with the leading screw is equipped in the shell, the pull rod is slidably connected with the guide rail.
The guide rail is two and is respectively arranged at the both sides of the leading screw.
The tightening hoop for being connect with the pull rod is arranged on the conducting wire.
The shell is cylindrical shape, and the first gear is co-axially mounted with the shell.
The threading hole of the shell both sides is coaxial, and rubber ring is equipped at the threading hole of the shell opposite side.
The strainer is set to the end in joint, and the first gear is connect with the firm gear in the joint, described outer
Shell is connect with the wave producer in the joint, and the shell drives second gear to be rotated around first gear, so as to fulfill the second tooth
The rotation of wheel.
The advantages of the utility model is with good effect：
1. the utility model provides a kind of integral joint interior cabling strainer, can in the rotary course of joint
The length of conducting wire is adjusted, adapts to the conductor length variation issue caused by conducting wire is wound；
2. the utility model utilize with penetration pipe and output flange connection, conductor length is realized by transmission mechanism
Adjusting, do not need to additional power source；
3. the utility model, relative to movement relation, passes through transmission mechanism using integral joint output terminal and input terminal
Gearratio realize the real-time adjusting of conductor length, do not need to carry out active control to device, so as to fulfill conductor length
It is passive to adjust；
4. the utility model can ensure to exist with next interarticular conducting line segment by with integral joint output terminal being connected
It is not wound in robot kinematics, so as to ensure that the conducting wire between joint is without damage；
5. the utility model is simple in structure, and does not need to that original integral joint is redesigned or is transformed,
It is easy for installation.
Description of the drawings
Fig. 1 is the structure diagram of the utility model；
Fig. 2 a are the original state schematic diagram of the utility model；
Fig. 2 b rotate clockwise status diagram for the utility model；
Fig. 2 c are the rotating state diagram counterclockwise of the utility model；
Fig. 3 is the attachment structure schematic diagram in the utility model and joint；
Fig. 4 is the principle schematic that the utility model is connect with joint；
Fig. 5 is movement schematic diagram of the utility model when joint rotates counterclockwise；
Fig. 6 is movement schematic diagram of the utility model when joint rotates clockwise.
Wherein：1 is first gear, and 2 be clutch shaft bearing, and 3 be conducting wire, and 4 be second bearing, and 5 be second gear, and 6 be shell,
7 be guide rail, and 8 be leading screw, and 9 be screw, and 10 be pull rod, and 11 be tightening hoop, and 12 be flexbile gear, and 13 be firm gear, and 14 be wave producer, 15
It is output flange for stator, 16, A is joint, and B is strainer.
Specific embodiment
In order to make the purpose of this utility model, technical solution and advantage clearer, below in conjunction with the accompanying drawings and it is embodied
The utility model is described in detail in example.
As shown in Figure 1, a kind of integral joint interior cabling strainer provided by the utility model, including shell 6 and holds
First gear 1, second gear 5, leading screw 8, screw 9 and the pull rod 10 being placed in shell 6, the wherein both ends of shell 6 are equipped with and are used for
The threading hole that conducting wire 3 passes through is equipped with first gear 1 at the threading hole of one side by clutch shaft bearing 2, and the both ends of leading screw 8 pass through
Both ends of the second bearing 4 respectively with shell 6 are connect, and second gear 5 is sheathed on leading screw 8 and is engaged with first gear 1, screw 9
Screw thread pair is cooperatively formed with leading screw 8, one end of pull rod 10 is connect with screw 9, and the other end is fixedly connected with conducting wire 3.
Further, shell 6 is cylindrical shape, and the threading hole of 6 both sides of shell is coaxial, first gear 1 and the coaxial peace of shell 6
At the threading hole of the side of shell 6, rubber ring is equipped at the threading hole of 6 opposite side of shell, which reduces rotation
Friction between shell 6 and conducting wire 3, plays the role of protection.
The guide rail 7 parallel with leading screw 8 is further equipped in shell 6, pull rod 10 is slidably connected with guide rail 7.
In one embodiment of the utility model, guide rail 7 is two and is symmetrically disposed on the both sides of leading screw 8.
Further, the tightening hoop 11 for being connect with pull rod 10 is arranged on conducting wire 3, tightening hoop 11 is rubber ring.
First gear 1 forms gear pair with second gear 5 and carries out movement transmission；Second gear 5 drives leading screw 8 to rotate, so
Axial movement of the screw 9 along guide rail 7 is driven by leading screw 8 afterwards；Screw 9 is connected with pull rod 10,10 other end of pull rod and tightening hoop
11 are connected；Tightening hoop 11 and conducting wire 3 and first gear 1 are coaxial；The axial movement of screw 9 along guide rail 7 drives pull rod 10 and opens
Tight ring 11 moves axially, and realizes the length variation of conducting wire 3.
Second gear 5 drives tightening hoop 11 around first around the revolution of first gear 1 by leading screw 8, screw 9 and pull rod 10
The axis rotation of gear 1 ensures that the conducting wire with next joint is not wound；The rotation of second gear 5 passes through leading screw 8, screw 9
And pull rod 10 drives tightening hoop 11 to be moved along the axis direction of first gear 1, realizes the movement of conducting wire 3.
The operation principle of the utility model is：
As shown in Figure 2 a, when shell 6 is in original state, screw 9 is located at the centre position of leading screw 8；
As shown in Figure 2 b, when shell 6 is rotated clockwise relative to first gear 1, second gear 5 is relative to first gear
1 revolution drives tightening hoop 11 to be rotated around the axis both clockwise of first gear 1 by leading screw 8, screw 9 and pull rod 10；Second tooth
The rotation of wheel 5 drives tightening hoop 11 to be moved to the left along the axis of first gear 1 by leading screw 8, screw 9 and pull rod 10, so as to increase
Add the length of intra articular conducting wire 3.
As shown in Figure 2 c, when shell 6 is rotated counterclockwise relative to first gear 1, second gear 5 is relative to first gear
1 revolution drives tightening hoop 11 to be rotated counterclockwise around the axis of first gear 1 by leading screw 8, screw 9 and pull rod 10；Second tooth
The rotation of wheel 5 drives tightening hoop 11 to move right along the axis of first gear 1 by leading screw 8, screw 9 and pull rod 10, so as to subtract
The length of Minor articulus inner lead 3, and ensure that conducting wire 3 is in tensioning state.
As shown in Figure 3-4, the strainer is set to the end in joint, and first gear 1 and the firm gear 13 in joint are indirect
Connection keeps relative static conditions；Shell 6 is connect with the wave producer 14 in joint, and shell 6 drives second gear 5 around the first tooth
1 rotation of wheel, so as to fulfill the rotation of second gear 5.
As seen in figs. 5-6, when joint drive shell 6 rotates clockwise, screw 9 drives tightening hoop 11 to be moved to the left, real
Existing function of receiving line；When joint drive shell 6 rotates counterclockwise, screw 9 drives tightening hoop 11 to move right, and realizes unwrapping wire work(
Energy.
The utility model is mounted on the end of integral joint, has that installation is simple, does not need to active control and realizes and lead
The characteristics of line is passively tensioned, the problem of can preventing from being pulled off due to conducting wire is wound in integral joint rotary course.
The foregoing is merely the embodiments of the utility model, are not intended to limit the scope of protection of the utility model.It is all
Any modification, equivalent substitution and improvements made within spirit of the present utility model and principle, extension etc., are all contained in this reality
With in novel protection domain.
Claims (7)
1. a kind of integral joint interior cabling strainer, which is characterized in that including shell (6) and be placed in the shell (6)
Interior first gear (1), second gear (5), leading screw (8), screw (9) and pull rod (10), the wherein both ends of shell (6), which are equipped with, to be used
First gear (1), the leading screw are equipped with by clutch shaft bearing (2) at the threading hole that conducting wire (3) passes through, one side threading hole
(8) both ends are connect by both ends of the second bearing (4) respectively with shell (6), and the second gear (5) is sheathed on the leading screw
(8) it is engaged on and with the first gear (1), the screw (9) cooperatively forms screw thread pair, the pull rod with the leading screw (8)
(10) one end is connect with the screw (9), and the other end is fixedly connected with conducting wire (3).
2. integral joint interior cabling strainer according to claim 1, which is characterized in that set in the shell (6)
There is the guide rail (7) parallel with the leading screw (8), the pull rod (10) is slidably connected with the guide rail (7).
3. integral joint interior cabling strainer according to claim 2, which is characterized in that the guide rail (7) is two
Both sides that are a and being respectively arranged at the leading screw (8).
4. integral joint interior cabling strainer according to claim 1, which is characterized in that covered on the conducting wire (3)
Equipped with the tightening hoop (11) for being connect with the pull rod (10).
5. integral joint interior cabling strainer according to claim 1, which is characterized in that the shell (6) is circle
Barrel shape, the first gear (1) are co-axially mounted with the shell (6).
6. integral joint interior cabling strainer according to claim 5, which is characterized in that shell (6) both sides
Threading hole it is coaxial, at the threading hole of shell (6) opposite side be equipped with rubber ring.
7. according to claim 1-6 any one of them integral joint interior cabling strainers, which is characterized in that the tensioning
Mechanism is set to the end in joint, and the first gear (1) connect with the firm gear (13) in the joint, the shell (6) and institute
Wave producer (14) connection in joint is stated, the shell (6) drives second gear (5) to be rotated around first gear (1), so as to fulfill
The rotation of second gear (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721686710.XU CN207534847U (en) | 2017-12-07 | 2017-12-07 | Integral joint interior cabling strainer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721686710.XU CN207534847U (en) | 2017-12-07 | 2017-12-07 | Integral joint interior cabling strainer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207534847U true CN207534847U (en) | 2018-06-26 |
Family
ID=62617566
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721686710.XU Withdrawn - After Issue CN207534847U (en) | 2017-12-07 | 2017-12-07 | Integral joint interior cabling strainer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207534847U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109895134A (en) * | 2017-12-07 | 2019-06-18 | 中国科学院沈阳自动化研究所 | A kind of integral joint interior cabling strainer |
| CN114074336A (en) * | 2021-11-17 | 2022-02-22 | 东北大学 | Variable-speed automatic wire pulling device with self-adaptive tail end tension |
-
2017
- 2017-12-07 CN CN201721686710.XU patent/CN207534847U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109895134A (en) * | 2017-12-07 | 2019-06-18 | 中国科学院沈阳自动化研究所 | A kind of integral joint interior cabling strainer |
| CN109895134B (en) * | 2017-12-07 | 2023-05-30 | 中国科学院沈阳自动化研究所 | Integral intra-articular wiring tensioning mechanism |
| CN114074336A (en) * | 2021-11-17 | 2022-02-22 | 东北大学 | Variable-speed automatic wire pulling device with self-adaptive tail end tension |
| CN114074336B (en) * | 2021-11-17 | 2023-05-23 | 东北大学 | Terminal pulling force self-adaptive variable speed automatic wire drawing device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180626 Effective date of abandoning: 20230530 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20180626 Effective date of abandoning: 20230530 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |